The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 06, 2021
Filed:
Jan. 02, 2020
The Boeing Company, Chicago, IL (US);
Phillip Haeusler, Chicago, IL (US);
Alexandre Desbiez, Chicago, IL (US);
The Boeing Company, Chicago, IL (US);
Abstract
In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect laser returns from laser rays projected from the one or more mounted lasers and reflected by the workpiece. The system also comprises a processor configured to receive a tessellation of the workpiece, wherein the tessellation comprises a 3D representation of the workpiece made up of cells, convert the laser returns into a 3D point cloud in a robot frame, based on the 3D point cloud, filter visible cells of the tessellation of the workpiece to form a tessellation included set, and solve for the 3D pose of the workpiece relative to the robotic device based on the tessellation included set.